This article contains useful information about running Pally without using the Teach Pendant.
TO DO:
gui settings
pallet confirmation signals
pallet termination signals
pick signals
software controlled signals
product selection via rf_product_selection
order mode, automatic order mode
callbacks
callback variables
progress indicator variables, report status via callbacks
pallet manager daemon
long startup issue, pally runnning state
emergency and protective stop
suppress app popups
integer error codes
etc.